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suActuatorPerturbationIndependent.h

// suActuatorPerturbationIndependent.h
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// AUTHOR: Frank C. Anderson, Saryn R. Goldberg, May Q.Liu
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#ifndef __suActuatorPerturbationIndependent_h__
#define __suActuatorPerturbationIndependent_h__


//=============================================================================
// INCLUDES
//=============================================================================
#include <rdMath.h>
#include <rdTools.h>
#include <rdModel.h>
#include <rdDerivCallback.h>
#include <rdManager.h>
#include "suAnalysesDLL.h"
#include "suContact.h"
#include "suDecomp.h"
#include "suActuatorPerturbation.h"


//=============================================================================
//=============================================================================
class SUANALYSES_API suActuatorPerturbationIndependent :
   public suActuatorPerturbation  
{
//=============================================================================
// DATA
//=============================================================================
public:


protected:
   rdStorage *_unperturbedForceStorage;
   rdStorage *_perturbedForceStorage;
   bool _recordUnperturbedForces;
   double *_forces;
   int _step;
//=============================================================================
// METHODS
//=============================================================================
public:
   suActuatorPerturbationIndependent(rdModel *aModel);
   virtual ~suActuatorPerturbationIndependent();
   
private:
   void setNull();
   void constructColumnLabels();
   void constructDescription();

public:
   //--------------------------------------------------------------------------
   // GET AND SET
   //--------------------------------------------------------------------------
   void setRecordUnperturbedForces(bool aTrueFalse);
   bool getRecordUnperturbedForces();
   rdStorage* getUnperturbedForceStorage();
   rdStorage* getPerturbedForceStorage();
   void reset();
   int getStep();
   
   //--------------------------------------------------------------------------
   // CALLBACKS
   //--------------------------------------------------------------------------
   virtual void
      computeActuation(double aT,double *aX,double *aY);
   virtual void
      applyActuation(double aT,double *aX,double *aY);

//=============================================================================
}; // END of class suActuatorPerturbationIndependent
//=============================================================================
//=============================================================================


#endif // #ifndef __suActuatorPerturbationIndependent_h__

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